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Merge pull request #69189 from grahamboree/updated-recast
Update Recast integration to fix crash in NavigationMesh baking
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commit
ceca460783
2
thirdparty/README.md
vendored
2
thirdparty/README.md
vendored
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@ -591,7 +591,7 @@ in 10.40, it can be found in the `patches` folder.
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## recastnavigation
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- Upstream: https://github.com/recastnavigation/recastnavigation
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- Version: git (5a870d427e47abd4a8e4ce58a95582ec049434d5, 2022)
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- Version: git (4fef0446609b23d6ac180ed822817571525528a1, 2022)
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- License: zlib
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Files extracted from upstream source:
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@ -22,13 +22,16 @@
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/// The value of PI used by Recast.
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static const float RC_PI = 3.14159265f;
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/// Used to ignore unused function parameters and silence any compiler warnings.
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template<class T> void rcIgnoreUnused(const T&) { }
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/// Recast log categories.
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/// @see rcContext
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enum rcLogCategory
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{
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RC_LOG_PROGRESS = 1, ///< A progress log entry.
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RC_LOG_WARNING, ///< A warning log entry.
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RC_LOG_ERROR, ///< An error log entry.
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RC_LOG_ERROR ///< An error log entry.
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};
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/// Recast performance timer categories.
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@ -101,7 +104,6 @@ enum rcTimerLabel
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class rcContext
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{
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public:
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/// Contructor.
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/// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true]
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inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
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@ -140,31 +142,30 @@ public:
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inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
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protected:
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/// Clears all log entries.
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virtual void doResetLog() {}
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virtual void doResetLog();
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/// Logs a message.
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/// @param[in] category The category of the message.
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/// @param[in] msg The formatted message.
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/// @param[in] len The length of the formatted message.
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virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
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virtual void doLog(const rcLogCategory category, const char* msg, const int len) { rcIgnoreUnused(category); rcIgnoreUnused(msg); rcIgnoreUnused(len); }
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/// Clears all timers. (Resets all to unused.)
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virtual void doResetTimers() {}
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/// Starts the specified performance timer.
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/// @param[in] label The category of timer.
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virtual void doStartTimer(const rcTimerLabel /*label*/) {}
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virtual void doStartTimer(const rcTimerLabel label) { rcIgnoreUnused(label); }
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/// Stops the specified performance timer.
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/// @param[in] label The category of the timer.
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virtual void doStopTimer(const rcTimerLabel /*label*/) {}
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virtual void doStopTimer(const rcTimerLabel label) { rcIgnoreUnused(label); }
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/// Returns the total accumulated time of the specified performance timer.
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/// @param[in] label The category of the timer.
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/// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
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virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
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virtual int doGetAccumulatedTime(const rcTimerLabel label) const { rcIgnoreUnused(label); return -1; }
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/// True if logging is enabled.
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bool m_logEnabled;
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@ -564,7 +565,7 @@ static const int RC_AREA_BORDER = 0x20000;
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enum rcBuildContoursFlags
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{
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RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification.
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RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification.
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RC_CONTOUR_TESS_AREA_EDGES = 0x02 ///< Tessellate edges between areas during contour simplification.
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};
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/// Applied to the region id field of contour vertices in order to extract the region id.
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@ -595,11 +596,6 @@ static const int RC_NOT_CONNECTED = 0x3f;
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/// @name General helper functions
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/// @{
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/// Used to ignore a function parameter. VS complains about unused parameters
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/// and this silences the warning.
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/// @param [in] _ Unused parameter
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template<class T> void rcIgnoreUnused(const T&) { }
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/// Swaps the values of the two parameters.
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/// @param[in,out] a Value A
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/// @param[in,out] b Value B
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@ -996,6 +992,7 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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/// @ingroup recast
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/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts]
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/// @param[in] nverts The number of vertices in the polygon.
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/// @param[in] offset How much to offset the polygon by. [Units: wu]
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/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
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/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts.
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/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
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@ -112,7 +112,7 @@ class rcVectorBase {
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typedef rcSizeType size_type;
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typedef T value_type;
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rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
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rcVectorBase() : m_size(0), m_cap(0), m_data(0) {}
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rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
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explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
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rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
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@ -142,8 +142,8 @@ class rcVectorBase {
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const T& front() const { rcAssert(m_size); return m_data[0]; }
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T& front() { rcAssert(m_size); return m_data[0]; }
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const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
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T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
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const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; }
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T& back() { rcAssert(m_size); return m_data[m_size - 1]; }
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const T* data() const { return m_data; }
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T* data() { return m_data; }
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@ -94,6 +94,11 @@ void rcContext::log(const rcLogCategory category, const char* format, ...)
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doLog(category, msg, len);
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}
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void rcContext::doResetLog()
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{
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// Defined out of line to fix the weak v-tables warning
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}
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rcHeightfield* rcAllocHeightfield()
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{
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return rcNew<rcHeightfield>(RC_ALLOC_PERM);
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@ -566,7 +566,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
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const int nvp = mesh.nvp;
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// Count number of polygons to remove.
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int numRemovedVerts = 0;
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int numTouchedVerts = 0;
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int numRemainingEdges = 0;
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for (int i = 0; i < mesh.npolys; ++i)
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@ -586,7 +585,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
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}
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if (numRemoved)
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{
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numRemovedVerts += numRemoved;
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numRemainingEdges += numVerts-(numRemoved+1);
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}
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}
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@ -284,7 +284,7 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
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enum EdgeValues
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{
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EV_UNDEF = -1,
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EV_HULL = -2,
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EV_HULL = -2
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};
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static int findEdge(const int* edges, int nedges, int s, int t)
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@ -264,7 +264,8 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
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// Calculate the footprint of the triangle on the grid's y-axis
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int y0 = (int)((tmin[2] - bmin[2])*ics);
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int y1 = (int)((tmax[2] - bmin[2])*ics);
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y0 = rcClamp(y0, 0, h-1);
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// use -1 rather than 0 to cut the polygon properly at the start of the tile
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y0 = rcClamp(y0, -1, h-1);
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y1 = rcClamp(y1, 0, h-1);
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// Clip the triangle into all grid cells it touches.
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@ -283,7 +284,7 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
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dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
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rcSwap(in, p1);
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if (nvrow < 3) continue;
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if (y < 0) continue;
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// find the horizontal bounds in the row
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float minX = inrow[0], maxX = inrow[0];
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for (int i=1; i<nvrow; ++i)
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@ -293,7 +294,10 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
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}
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int x0 = (int)((minX - bmin[0])*ics);
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int x1 = (int)((maxX - bmin[0])*ics);
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x0 = rcClamp(x0, 0, w-1);
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if (x1 < 0 || x0 >= w) {
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continue;
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}
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x0 = rcClamp(x0, -1, w-1);
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x1 = rcClamp(x1, 0, w-1);
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int nv, nv2 = nvrow;
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@ -305,7 +309,7 @@ static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
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dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
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rcSwap(inrow, p2);
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if (nv < 3) continue;
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if (x < 0) continue;
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// Calculate min and max of the span.
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float smin = p1[1], smax = p1[1];
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for (int i = 1; i < nv; ++i)
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